Systems and methods for detecting spatial availability around a vehicle

The present disclosure generally relates to systems and methods for detecting spatial availability around a vehicle and, more particularly, to space optimization for positioning a vehicle using time-of-flight sensors of the vehicle.

Conventional exterior detection systems for vehicles may incorporate time-of-flight technology.

According to a first aspect of the present disclosure, a vehicle includes a passenger compartment having a side and an upper wall extending from the side in an upper plan. The vehicle further includes an extension extending from the side of the passenger compartment to an end that extends in an end plane. The vehicle further includes at least one time-of-flight sensor configured to capture positional information about an obstruction outside the vehicle. The vehicle further includes control circuitry in communication with the at least one time-of-flight sensor. The control circuitry is configured to define a space above the extension between the side, the upper plane, and the end plane. The control circuitry is further configured to calculate, based on the positional information, an available position for the vehicle having the obstruction in the space. The control circuitry is further configured to generate an output in response to the available position.

Embodiments of the first aspect of the present disclosure can include any one or a combination of the following features:

According to a second aspect of the present disclosure, a vehicle includes a passenger compartment having a side and an upper wall extending from the side in an upper plane. The vehicle further includes an extension extending from the side of the passenger compartment to an end that extends in an end plane. The vehicle further includes at least one time-of-flight sensor configured to capture positional information about an obstruction outside the vehicle. The vehicle further includes a powertrain that moves the vehicle in a motion direction. The vehicle further includes control circuitry in communication with the at least one time-of-flight sensor and the powertrain. The control circuitry is configured to define a space above the extension between the side, the upper plane, and the end plane. The control circuitry is further configured to calculate, based on the positional information, an available position for the vehicle having the obstruction in the space. The control circuitry is further configured to communicate an instruction.

Embodiments of the second aspect of the present disclosure can include any one or a combination of the following features:

According to a third aspect of the present disclosure, a vehicle includes a passenger compartment having a side and an upper wall extending from the side in an upper plane. The vehicle further includes an outer compartment extending from the side of the passenger compartment to an end that extends in an end plane. The vehicle further includes at least one time-of-flight sensor configured to capture positional information about an obstruction outside the vehicle. The vehicle further includes a powertrain that moves the vehicle in a motion direction. The vehicle further includes control circuitry in communication with the at least one time-of-flight sensor and the powertrain. The control circuitry is configured to define a space above the extension between the side, the upper plane, and the end plane. The control circuitry is further configured to calculate, based on the positional information, an available position for the vehicle having the obstruction in the space. The control circuitry is further configured to determine a first potential contact point between the obstruction and the end. The control circuitry is further configured to determine a second potential contact point between the obstruction and the side. The control circuitry is further configured to compare the first and second potential contact points to calculate the available position. The control circuitry is further configured to communicate an instruction to adjust the powertrain in based on the comparison.

These and other features, advantages, and objects of the present disclosure will be further understood and appreciated by those skilled in the art by reference to the following specification, claims, and appended drawings.

Reference will now be made in detail to the present preferred embodiments of the disclosure, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numerals will be used throughout the drawings to refer to the same or like parts. In the drawings, the depicted structural elements may or may not be to scale and certain components may or may not be enlarged relative to the other components for purposes of emphasis and understanding.

For purposes of description herein, the terms “upper,” “lower,” “right,” “left,” “rear,” “front,” “vertical,” “horizontal,” and derivatives thereof shall relate to the concepts as oriented in. However, it is to be understood that the concepts may assume various alternative orientations, except where expressly specified to the contrary. It is also to be understood that the specific devices and processes illustrated in the attached drawings, and described in the following specification are simply exemplary embodiments of the inventive concepts defined in the appended claims. Hence, specific dimensions and other physical characteristics relating to the embodiments disclosed herein are not to be considered as limiting, unless the claims expressly state otherwise.

The present illustrated embodiments reside primarily in combinations of method steps and apparatus components related to a detection system for a vehicle. Accordingly, the apparatus components and method steps have been represented, where appropriate, by conventional symbols in the drawings, showing only those specific details that are pertinent to understanding the embodiments of the present disclosure so as not to obscure the disclosure with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein. Further, like numerals in the description and drawings represent like elements.

As used herein, the term “and/or,” when used in a list of two or more items, means that any one of the listed items can be employed by itself, or any combination of two or more of the listed items, can be employed. For example, if a composition is described as containing components A, B, and/or C, the composition can contain A alone; B alone; C alone; A and B in combination; A and C in combination; B and C in combination; or A, B, and C in combination.

As used herein, the term “about” means that amounts, sizes, formulations, parameters, and other quantities and characteristics are not and need not be exact, but may be approximate and/or larger or smaller, as desired, reflecting tolerances, conversion factors, rounding off, measurement error and the like, and other factors known to those of skill in the art. When the term “about” is used in describing a value or an end-point of a range, the disclosure should be understood to include the specific value or end-point referred to. Whether or not a numerical value or end-point of a range in the specification recites “about,” the numerical value or end-point of a range is intended to include two embodiments: one modified by “about,” and one not modified by “about.” It will be further understood that the end-points of each of the ranges are significant both in relation to the other end-point, and independently of the other end-point.

The terms “substantial,” “substantially,” and variations thereof as used herein are intended to note that a described feature is equal or approximately equal to a value or description. For example, a “substantially planar” surface is intended to denote a surface that is planar or approximately planar. Moreover, “substantially” is intended to denote that two values are equal or approximately equal. In some embodiments, “substantially” may denote values within about 10% of each other, such as within about 5% of each other, or within about 2% of each other.

As used herein the terms “the,” “a,” or “an,” mean “at least one,” and should not be limited to “only one” unless explicitly indicated to the contrary. Thus, for example, reference to “a component” includes embodiments having two or more such components unless the context clearly indicates otherwise.

Referring generally to, a detection systemis provided in connection with a vehicleand is configured to detect objects, structures, terrain, or the like outside of and proximate to the vehicle. The detection systemincludes time-of-flight devicesthat are arranged around the vehicleto allow various detection techniques using a common set of sensors. For example, the time-of-flight devicesmay be sensors that are configured to emit pulses of electro-magnetic waves at different frequencies depending on the operating mode. Accordingly, a dynamic, or multimode, system may be provided to allow enhanced detection techniques depending on a desired operation for the vehicle.

Reference to, according to a first example, the vehicleincludes a plurality of sides,,,each having right and left portions. The plurality of sides,,,includes a front, a rear, a driver side, and the passenger side. It is contemplated that the driver sideand passenger sidemay be referred to left and right sides of the vehicle, and that the vehiclemay be autonomous and/or may lack a driver or a passenger without deviating from the examples of the present disclosure. The time-of-flight devicesmay include a plurality of radio detection and ranging (RADAR) modules,,arranged at a common one of the sides,,,, such as the rearof the vehicle, and configured to detect an obstructionin a region exteriorto the vehicle. The plurality of RADAR modules,,includes a first RADAR moduleon the driver sideof the vehicle. The first RADAR modulehas a first field of view. A second RADAR moduleis on the passenger sideof the vehicleand has a second field of view. A third RADAR moduleis spaced from the first RADAR moduleat a first distanceand the second RADAR moduleat a second distance. The third RADAR modulehas a third field of viewat least partially overlapping with each of the first and second fields of view,behind the vehicle. Control circuitryis in communication with the plurality of RADAR modules,,and is configured to triangulate a position of the obstructionbetween a first pair of the plurality of RADAR modules,,. The first distancecan be substantially equal to the second distance.

In some examples, the third RADAR moduleis disposed between the first and second RADAR modules,. The third RADAR modulemay be disposed centrally between the first and second RADAR modules,. For example, the first distancemay be between a quarter of (25%) and four times (400%) of the second distance. The first distancemay be between a half of (50%) and twice (200%) of the second distance. The third RADAR modulemay be vertically spaced from the first and second RADAR modules,. The first RADAR modulemay be vertically aligned with the second RADAR module. In further examples, the vehicleincludes a first taillight assemblydisposed at the rearon the driver side, as well as a second taillight assemblydisposed at the rearon the passenger side. The first and second RADAR modules,are disposed in the first and second taillight assemblies,, respectively.

In some examples, the control circuitryis configured to selectively execute a blind spot detection algorithm to determine an objectin a blind spotof at least one of the driver sideand the passenger sidebased on the positional data captured in the first and second fields of view,. The control circuitrymay also, or alternatively, selectively execute a cross-traffic detection algorithm to determine an objectis a cross-traffic area using the first and second fields of view,. For example, regions behind and to the right or left may be the cross-traffic areas where other vehicles may be detected during reversing of the vehicle. The vehiclemay further include a powertrainin communication with the control circuitry. Selective execution of the blind spotdetection algorithm and the cross-traffic detection algorithm may be based on a gear status of the powertrain. For example, the control circuitrymay be configured to execute the blind spot detection algorithm and the cross-traffic detection algorithm when the gear status is not park. The control circuitryis configured to execute a parking assist algorithm that guides steering of the vehiclebased on the positional data captured in both the third field of viewand at least one of the first and second fields of view,. The control circuitrymay be configured to select between the park assist algorithm and the blind spotdetection algorithm based on the gear status. For example, if the vehicleis in reverse gear, the park assist mode may be activated.

In some examples, the vehiclefurther includes a tailgateat the rearof the vehicle. The third RADAR modulemay be operably coupled with the tailgate. The control circuitrymay further be configured to execute a gesture recognition algorithm that determines a gesture of a user behind the vehiclebased on the positional information captured in the third field of view. The control circuitrymay further be configured to execute the gesture recognition algorithm when the gear status is park.

In some examples, the control circuitryis further configured to triangulate the position of the obstructionbetween a second pair of the plurality of RADAR modules,,, compare the triangulation based on the second pair of the plurality of RADAR modules,,to the triangulation based on the first pair of the plurality RADAR modules, and update the position based on the comparison.

Referring to, in a second example, the detection systemfor the vehicleincludes the at least one time-of-flight deviceconfigured to capture the positional information about cargoin the vehicleand the obstructionoutside the vehicle. The detection systemfurther includes control circuitrythat is in communication with the at least one time-of-flight device. The control circuitryis configured to determine a location of the obstructionrelative to a rearof the vehicle. The control circuitryis further configured to calculate a lengthof at least one overhang,of the cargobased on the positional information, estimate a lateral positionof the at least one overhang,based on the positional information, determine at least one endpoint,of the cargobased on the lateral positionand the length, determine at least one potential contact point,between the cargoand the obstructionbased on the location and the at least one endpoint,, and generate an output based on the at least one potential contact point,. The detection systemof the present example may provide for enhanced availability when adjusting a position of the vehicleby identifying additional space for movement of the vehiclewhile limiting potential contact.

In some examples, the cargoincludes a first objectand a second object. The control circuitryis further configured to determine a first endpointfor the first objectbased on the lengthand the lateral positionof a first overhangof the first object. The control circuitryis further configured to determine a second endpointfor the second objectbased on the lengthand a lateral positionof a second overhangof the second object. The control circuitryis further configured to determine a first potential contact pointbetween the first objectand the obstructionbased on the first endpoint. The control circuitryis further configured to determine a second potential contact pointbetween the second objectand the obstructionbased on the second endpoint.

In some examples, the control circuitryis further configured to compare the first potential contact pointwith the second potential contact pointand calculate a steering profilebased on the comparison of the first potential contact pointwith the second potential contact point. The detection systemmay further include a steering systemthat adjusts a steering angle of the vehiclein response to the steering profile. A displaymay be in communication with the control circuitryand configured to present an indication of the steering profilefor the steering systemin response to the output. The indication may include an adjustment for the steering angle to align with the steering profile.

In some examples, the control circuitryis further configured to determine a clearance zone between the first and second potential contact points,based on the location of the obstruction. The detection systemmay further include a brake systemthat adjusts a speed of the vehiclein response to the output. The control circuitrymay further be configured to determine a proximity of the cargoto at least one of the first potential contact pointand the second potential contact pointand communicate an instruction to the brake systemto adjust the speed of the vehiclein response to the proximity.

In some examples, the displayis configured to present the at least one potential contact point,in response to the output. The at least one time-of-flight devicemay include the plurality of RADAR modules,,disposed along the rearof the vehicleand configured to detect the obstructionbehind the vehicle. The plurality of RADAR modules,,includes the first RADAR modulealigned with the driver sideof the rearand the second RADAR modulealigned with the passenger sideof the rear. The plurality of RADAR modules,,includes the third RADAR moduledisposed between the first and second RADAR modules,. The third RADAR modulemay be disposed above or below each of the first and second RADAR modules,.

Referring to, in a third example, the vehicleincludes a passenger compartmenthaving a side, such as a sidewallor outer wall of the passenger compartment, and an upper wallthat extends from the side in an upper plane. An extensionextends from the side of the passenger compartmentto an endthat extends in an end plane. The at least one time-of-flight deviceis configured to capture positional information about the obstructionoutside the vehicle. The control circuitryis in communication with the at least one time-of-flight deviceand is configured to define a space above the extensionbetween the side, the upper plane, and the end plane. For example, the space may be one of a plurality of voidsaround the vehicle mapped by the control circuitry. The control circuitryis further configured to calculate, based on the positional information, an available position for the vehiclehaving the obstructionin the space. The control circuitryis further configured to generate an output in response to the available position. This arrangement may provide for enhanced spatial utilization when maneuvering the vehicle.

In some examples, the vehiclefurther includes the powertrainthat moves the vehiclein a motion direction. The control circuitrymay further be configured to communicate an instruction to adjust the powertrain in response to the calculation of the available position. The control circuitrymay further be configured to determine a first potential contact pointbetween the obstructionand the end, determine a second potential contact pointbetween the obstructionand the sidewall, and compare the first and second potential contact points,to calculate the available position. The instruction to adjust the powertrain may be based on the comparison.

In some examples, the control circuitryis further configured to calculate a first contact distancebetween the first potential contact pointand the end. The control circuitryis further configured to calculate a second contact distancebetween the second potential contact pointand the sidewall. The control circuitryis further configured to assign a maximum travel for the vehiclein the motion direction to one of the first contact distanceand the second contact distance. The control circuitrymay further be configured to assign the maximum travel based on the shorter of the first contact distanceand the second contact distance.

In some examples, the vehicleincludes the brake systemthat adjusts the speed of the vehiclein response to the maximum travel. The extensionmay include an outer compartmentof the vehicle. For example, the outer compartmentmay be a trunk or a frunk of the vehicle. The space may be defined above a trunkor a hoodof the vehicle, though other spaces (e.g., spaces under the chassis, above the hood, or any other spaces around the vehicle) may be defined between a boundary box() around the vehicleand the vehicleitself.

In some examples, the outer compartmentis a bedof a truck. The vehiclemay further include a coverthat is selectively disposed in the space for covering the bedof the truck. For example, the covermay be a cap for the vehiclethat selectively covers the outer compartment(e.g., a detachable truck cap). The control circuitrymay be configured to determine the presence of the cover. An input may be in communication with the control circuitryand configured to detect the cover. For example, the input may be a signal generated by a detection sensor that monitors the presence of the cover. The vehiclemay further include the steering systemthat adjusts the steering angle of the vehicleto align the vehiclewith the available position.

Referring to, in a fourth example, the detection systemfor the vehicleincludes the at least one time-of-flight devicethat is configured to capture positional information about a contour of a towable deviceoutside the vehicle. The detection systemfurther includes a user interface configured to present messages to a user. The control circuitryis in communication with the at least one time-of-flight deviceand the user interface. The control circuitryis configured to calculate a tiltof the contour based on the positional information about the contour, compare the tiltto a threshold anglefor the contour, determine at least one stability condition of the towable devicebased on the comparison of the tiltto the threshold angle, and communicate an instruction to the user interface to indicate the at least one stability condition. The detection systemmay provide for detecting unstable conditions or potentially unstable conditions of the towable deviceby employing the enhanced arrangement of time-of-flight sensors, according to some aspects of the present disclosure.

It is contemplated that the towable devicemay embody any apparatus or device configured to be coupled with (e.g., hitched) to the vehicleto allow the vehicleto tow the towable device. For example, the towable device may be another vehicle, such as a recreational vehicle (RV) or an automotive vehicle (e.g., car, truck), a towable device, a camper, or any other towable device.

According to some examples, the towable deviceis operably coupled with the vehicle. The contour may include a front wallof the towable device, and the control circuitrymay further be configured to calculate a pitch of a floorof the towable devicebased on the tiltof the front wall. For example, the pitch may be in angular deviation from a driving surfaceunder the vehiclein an inclined or declined position. The control circuitrymay further be configured to determine a topographyof an area behind the vehiclebased on the pitch. For example, the control circuitrymay determine the presence of an incline or decline behind the vehicle. The towable devicemay be a dump trailerhaving the floorpivotable relative to a frameof the towable device. A lift unitmay be in communication with the control circuitryand configured to adjust the pitch of the floorof the dump trailer.

According to some examples, the at least one stability condition includes an unstable condition corresponding to the pitch exceeding the threshold angle. The control circuitrymay further be configured to communicate an instruction to interrupt the lift unitadjusting the pitch in response to the unstable condition. The control circuitrymay further be configured to estimate a length of the towable devicebased on the positional information and calculate the threshold anglebased on the length of the towable device. The detection systemmay further include an input indicating a loaded state or an unloaded state of the towable device. The control circuitrymay be configured to adjust threshold anglebased on the input. The input may be a signal from one of a selection at the user interface and a weight sensorfor the towable device. For example, the weight sensormay be operably coupled with the floorof the towable deviceand configured to provide weight information wirelessly or over a wired connection to the control circuitryto indicate a weight of the towable device.

The at least one time-of-flight devicemay include the plurality of RADAR modules,,arranged near the tailgateof the vehicle. A pair of the plurality of RADAR modules,,are disposed in the taillight assemblies,of the vehicle. In some examples, at least one of the plurality of RADAR modules,,is disposed in another lighting assembly, such a headlight assembly,of other lighting assembly that illuminates the region exterior.

Referring now to, the vehiclemay be a truckhaving the bedselectively accessible via the tailgate. For example, the tailgatemay have a handlefor selectively opening or closing the tailgate. The third RADAR modulemay be disposed adjacent to the handlefor the tailgateand vertically offset from the first and second RADAR modules,in the first and second taillight assemblies,, respectively. Although illustrated as a truck, it is contemplated that the vehiclemay be any automotive vehicle, such as a car, a van, a sedan, a sport utility vehicle, or any other automotive vehicle. Further, it is contemplated that the plurality of RADAR modules,,may be positioned additionally, or in an alternative, at the frontof the vehicle, such as having the first and second RADAR modules,disposed in first and second headlight assemblies,of the vehicle. In this example, the third RADAR modulemay be disposed between the first and second RADAR modules,at, above, or below, the first and second RADAR modules,. In general, a triangular arrangement of the plurality of RADAR modules,,may be provided along the frontor rearof the vehicle for monitoring areas in front of or behind the vehicle.

The time-of-flight devicesdescribed herein may refer to the RADAR modules,,as described, or may refer to any other time-of-flight device, such as a light detection and ranging unit (LiDAR), a Sound Navigation and Ranging (Sonar) unit, or any other time-of-flight device. In general, the arrangement of the time-of-flight devicesrelative to the motion direction of the vehiclemay provide for the enhanced range of detection and locating of the present detection system. The RADAR may have a range of between 70 and 90 gigahertz (GHz), though other RADAR ranges may be employed. For example, the RADAR may be between 76 GHz and 81 GHz.

Referring now to, an exemplary functional diagram of the control circuitryof the detection systemof the present disclosure is shown. The control circuitrymay include a controllerhaving a processorand a memorythat stores instructions. The processormay execute the instructions to cause the controllerto operate the time-of-flight devicesand control one or more of the brake system, the powertrain, the lift unit, or another vehicle system in response to the positional data collected by the plurality of RADAR modules,,. In some examples, the control circuitrymay communicate signals to adjust the frequencies of the radio waves emitted by the RADAR modules,,and/or an orientation of the emissions of radio waves to focus on particular regions around the vehicle. In other examples, the RADAR modules,,operate in a constant detection mode and the processoroperates in variable algorithms depending on the particular operation performed by the detection system. For example, the control circuitrymay be configured to operate in the blind spot detection mode, the park assist mode, or a backup assist mode. Depending on the particular mode selected, the processormay execute different instructions that causes the processorto read segments of the data collected by the plurality of RADAR modules,,. Stated differently, the different operating modes for the processormay be associated with different locations around the vehicleto be monitored and, as a result, the positional data from each of the time-of-flight devicesmay be read at varying rates or sampled at different frequencies in order to analyze the positional data pertinent to that particular location. In this way, computational power and latency may be enhanced by the detection system.

In some examples, the control circuitryis configured to compare the positional data captured by the plurality of RADAR modules,,in order to triangulate the positions of the objects,,or obstructionsaround the vehicle. For example, the time-of-flight of radio waves emitted and received from the first RADAR modulesmay be compared to the time-of-flight of radio waves emitted received by the second RADAR modulein order to triangulate the position of the obstruction.

The detection systemfurther includes a wireless networkthat may provide for communication between the control circuitryand one or more mobile devices. For example, the wireless networkmay be operable with Wi-Fi®, Bluetooth®, ZigBee®, SMS, or any other wireless communication protocol, such as any short- or long-wave communications. The mobile devicemay incorporate ultra-wideband (UWB) RADAR functionality and serve as one of the plurality of RADAR modules,,(e.g., a fourth RADAR module). For example, a user may be positioned near the tailgateand may use the mobile deviceto guide a driver of the vehicleor guide steering of the vehicleand a backing up operation by employing the RADAR module in the mobile deviceto gather additional positional data about obstructionsor objects,,behind the vehicle. In addition, or in an alternative, the RADAR modules,,on the vehiclemay detect the presence of the user near the tailgateand control opening or closing of the tailgatebased on the location of the user. For example, the detection systemmay include an electronic door lockand/or an actuatorconfigured to control opening or closing of the tailgate. Based on the detection of the user within an opening path of the tailgate, the control circuitrymay limit movement of the tailgatewhen the user, or another obstruction, is within the opening movement. When the tailgateis in the open position, a pair of the plurality of RADAR modules,,may be configured to detect the presence of the user and limit a closing movement of the tailgatebased on the user being within a region near the tailgate.

In some examples, the at least one time-of-flight deviceincludes UWB transceivers, or beacons/antennas, positioned at the rearof the vehicle. For example, the UWB transceiversmay be incorporated in rear corners and front corners of the vehicleto provide 360° of RADAR coverage around the vehicle. The UWB transceiversmay provide for enhanced locating functionality to detect precise location of the objects,,proximate to the vehicle.

With continued reference to, the powertrainmay include the steering system, an engineof the vehicle, a transmission systemof the vehicle, or any other system configured to control movement of the vehicle. As will be described further herein, the control circuitrymay be configured to adjust steering of the vehiclein response to the positional information captured by the RADAR modules,,. In some examples, the gear state of the transmission may be accessed by the control circuitryand be employed to determine the operational mode for the processor. In other examples that will be described in reference to, the control circuitrymay be in communication with the lift unitof the dump trailerthat may be operably coupled with the vehicle. The lift unitmay incorporate any electromechanical actuating device such as a motoror a hydraulic unit that may drive the floorof the tractor upwardly and downwardly, as will be described further herein. Further, the weight sensormay be in communication with the control circuitryto allow the control circuitryto determine various states of the towable deviceas will be further described herein.

Still referring to, a human-machine interface (HMI) may be provided in the vehicleto allow the user to interact with various aspects of the detection system. For example, the HMI may incorporate the displayand may serve as the interfacepreviously described. In some examples, the mobile deviceserves as the interfaceand the display. For example, the steering profile, the stability conditions for the towable device, the presence and location of objects,,or obstructions, and available parking positions or other movements of the vehiclemay be presented at the displayin the form of an image, text, numbers, or any other indication of detection by the detection system.

Referring now more particularly to, a geometric arrangementfor the three RADAR modules,,is illustrated in the tailgateof the vehicle. More particularly, the first and second RADAR modules,are incorporated into the first and second taillight assemblies,, respectively, and the third RADAR moduleis incorporated centrally within the tailgate. In this exemplary arrangement, the first distanceis substantially equal to the second distance, and the third RADAR moduleis vertically, or vehicle-upwardly, offset from the first and second RADAR modules,which are in a common horizontal plane. Thus, the arrangementof the plurality of RADAR modules,,forms an isosceles triangular arrangementto provide for enhanced scanning and detection equally between the driver sideor the passenger sidebehind the vehicle. Further, by providing a vertical offset between at least a pair of the RADAR modules,,, an expansive field of view amongst the three fields of view,,may be provided. For example, the third field of viewmay overlap with the first and second fields of view,in a smaller region than if all of the RADAR modules,,were vertically aligned with one another.

Referring generally to, control circuitrymay further be configured to execute the gesture recognition algorithm and utilize the positional information captured from the RADAR modules,,. For example, when the user is near the rearof the vehicle, the position of the user may be identified via the RADAR modules,,and various gestures of the user may be detected based on the positional information gathered by the RADAR modules,,. For example, raising of the foot, moving of the hands, or other movements of the body of the user may be detected based on the positional information in the fields of view,,and cause opening or closing of the tailgate. As previously described, the opening or closing of the tailgatemay be limited based on the location of the user. For example, various gestures to open or close the tailgatemay be detected from close or far distances from the vehiclewithin the fields of view,,of the RADAR modules,,. In some examples, the control circuitryexecutes the gesture recognition algorithm when the gear state is park and the engine is on. Continuing with this example, when the vehicleis in reverse, the park assist operating mode may be activated. The park assist mode may include the cross-traffic detection algorithm. For example, the park assist mode may cause the first and second RADAR modules,to scan the cross traffic areas when the gear status is reverse. When the gear status is drive, the control circuitrymay execute the blind spotdetection algorithm. By providing the redundancy of the plurality RADAR modules on the vehicle, multi-mode functionality for the detection systemmay be provided.

The arrangementof the RADAR modules,,may further provide for enhanced redundancy in the event of limited functionality of one of the three RADAR modules,,. Further, by providing the arrangement of the plurality of RADAR modules,,, ultrasonic sensors typically incorporated in bumpers or other exterior portions of the vehiclemay be omitted to provide enhanced efficiency in manufacturing. Accordingly, cutouts for ultrasonic sensors and multiple wired connections may be reduced.

Referring now to, examples of the blind spot detection algorithm () and the park assist algorithm () are illustrated. As shown, the first and second RADAR modules,incorporated into the taillight assemblies,may allow for dual functionality of the RADAR modules,,for various operations of moving the vehicle. As previously described, incorporation of the third RADAR modulemay allow for greater redundancy in the event of limited functionality of at least one of the RADAR modules,,to allow for the blind spot detection algorithm and the park assist algorithm to be executed with two RADAR modules,.

Referring now to, the plurality of RADAR modules,,may be employed for detection of extended loads within the vehicle. For example, the cargoin the bedof the truckmay extend beyond the rearof the truck. In such an example, the effective lengthof the vehiclemay be the length of the vehicleplus the overhang,of the cargo. Accordingly, by detecting the at least one endpoint,of the at least one overhang,using the positional information from the RADAR sensors, the present detection systemmay allow the control circuitryto provide an enhanced estimate for maneuvering of the vehicle. For example, changing lanes of the vehiclewithout interaction with or contact with another vehicle or another item may be limited by providing these detection techniques. In addition, or in an alternative, the detection systemmay enhance the blind spot detection algorithm by incorporating the lengthof the at least one overhang,into estimation of available maneuvering of the vehicle. Accordingly, the detection systemmay provide for enhanced functionality to detect and characterize lengths of extended loads on the vehicle.

Still referring to, the three fields of view,,of the three RADAR modules,,may be oriented for accessibility to the tailgateand for blind spotidentification as described previously. In this example, the control circuitrymay modify operation of the third RADAR moduleto monitor positional information captured from a direction that would ordinarily be upward when the tailgateis in the closed position. For example, the control circuitrymay operate a tailgate-open algorithm and a tailgate-closed algorithm in which, depending on the algorithm executed, positional data captured from an upward angle of the radio waves are monitored or radio waves captured in a downward orientation are monitored. For example, with reference to, in the closed position of the tailgate(e.g., the tailgateis up), the control circuitrymay actively read data captured in a first angular range(e.g., between 45° and 60° from center) and ignore data captured in a second angular range(e.g., between 1° and 45° outside of the first angular range). However, when the tailgateis the open position (e.g., the tailgateis down), the control circuitrymay actively read positional information captured in the second angular rangeand ignore positional information captured in the first angular range. Accordingly, detection of the tailgateposition may be determined based on the positional information generated by the first and second RADAR modules,. In other examples, various sensors, such as the weight sensor, a door open/closed sensor, or any other detection sensor may be employed by the detection systemand in communication with the control circuitryto determine the position of the tailgate.